Spatial trajectory tracking control of omni-directional wheeled robot using optical flow sensors

Jwu-Sheng Hu*, Jung Hung Cheng, Yung Jung Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This study presents a method of controlling a mobile robot of omni-directional wheels. Two optical flow sensors are installed on the chassis of the robot to obtain motion information relative to the world coordinate. Due to wheel slip, the kinematic relation from the wheel speed to the robot speed no longer holds. An extremum seeking algorithm is proposed to cope with the unknown friction when the robot tries to follow a prescribed trajectory. Further, a spatial tracking algorithm is proposed to modify the velocity commands to achieve a better performance in trajectory following. Lastly, a simple obstacle avoidance algorithm is also proposed based on the optical flow sensor measurement. Experiments are conducted for various driving conditions including different road surfaces to show the effectiveness of the proposed methods.

Original languageEnglish
Title of host publication16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
Pages1462-1467
Number of pages6
DOIs
StatePublished - 1 Dec 2007
Event16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control - , Singapore
Duration: 1 Oct 20073 Oct 2007

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Conference

Conference16th IEEE International Conference on Control Applications, CCA 2007. Part of IEEE Multi-conference on Systems and Control
CountrySingapore
Period1/10/073/10/07

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